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Multi-arm Motion Planning of Beijing Astronaut Robot

  • Hui Li
  • Bowen Qin
  • Zhihong JiangEmail author
  • Marco Ceccarelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Considering the special configuration of the space station multi-arm bionic robot, a two-arm/three-arm coordinated operation mode are proposed which greatly improves efficiency of movement of the robot. Aiming at the robot’s two-arm coordinated motion to form a redundant degree of freedom manipulator, a global trajectory optimization method based on spatial meshing is pro-posed, which effectively reduces the maximum joint motion speed of the robot and provides an effective technical approach for the mobile space planning inside and outside the robot space station.

Keywords

Multi-arm Astronaut Robot trajectory optimization 

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Notes

Acknowledgment

This work was supported by the National Natural Science Foundation of CHINA (61733001, 61573063, 61873039, U1713215).

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hui Li
    • 1
  • Bowen Qin
    • 1
  • Zhihong Jiang
    • 1
    Email author
  • Marco Ceccarelli
    • 2
  1. 1.School of Mechatronic EngineeringBeijing Institute of TechnologyBeijingChina
  2. 2.University of Rome Tor VergataRomeItaly

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